'use strict'; TABS.motors = { allowTestMode: false, feature3DEnabled: false, feature3DSupported: false }; TABS.motors.initialize = function (callback) { var self = this; self.armed = false; self.feature3DSupported = false; self.allowTestMode = true; if (GUI.active_tab != 'motors') { GUI.active_tab = 'motors'; googleAnalytics.sendAppView('Motors'); } function get_arm_status() { MSP.send_message(MSP_codes.MSP_STATUS, false, false, load_config); } function load_config() { MSP.send_message(MSP_codes.MSP_BF_CONFIG, false, false, load_3d); } function load_3d() { var next_callback = get_motor_data; if (semver.gte(CONFIG.apiVersion, "1.14.0")) { self.feature3DSupported = true; MSP.send_message(MSP_codes.MSP_3D, false, false, next_callback); } else { next_callback(); } } function get_motor_data() { update_arm_status(); MSP.send_message(MSP_codes.MSP_MOTOR, false, false, load_html); } function load_html() { $('#content').load("./tabs/motors.html", process_html); } MSP.send_message(MSP_codes.MSP_MISC, false, false, get_arm_status); function update_arm_status() { self.armed = bit_check(CONFIG.mode, 0); } function initSensorData() { for (var i = 0; i < 3; i++) { SENSOR_DATA.accelerometer[i] = 0; } } function initDataArray(length) { var data = new Array(length); for (var i = 0; i < length; i++) { data[i] = new Array(); data[i].min = -1; data[i].max = 1; } return data; } function addSampleToData(data, sampleNumber, sensorData) { for (var i = 0; i < data.length; i++) { var dataPoint = sensorData[i]; data[i].push([sampleNumber, dataPoint]); if (dataPoint < data[i].min) { data[i].min = dataPoint; } if (dataPoint > data[i].max) { data[i].max = dataPoint; } } while (data[0].length > 300) { for (i = 0; i < data.length; i++) { data[i].shift(); } } return sampleNumber + 1; } var margin = {top: 20, right: 30, bottom: 10, left: 20}; function updateGraphHelperSize(helpers) { helpers.width = helpers.targetElement.width() - margin.left - margin.right; helpers.height = helpers.targetElement.height() - margin.top - margin.bottom; helpers.widthScale.range([0, helpers.width]); helpers.heightScale.range([helpers.height, 0]); helpers.xGrid.tickSize(-helpers.height, 0, 0); helpers.yGrid.tickSize(-helpers.width, 0, 0); } function initGraphHelpers(selector, sampleNumber, heightDomain) { var helpers = {selector: selector, targetElement: $(selector), dynamicHeightDomain: !heightDomain}; helpers.widthScale = d3.scale.linear() .clamp(true) .domain([(sampleNumber - 299), sampleNumber]); helpers.heightScale = d3.scale.linear() .clamp(true) .domain(heightDomain || [1, -1]); helpers.xGrid = d3.svg.axis(); helpers.yGrid = d3.svg.axis(); updateGraphHelperSize(helpers); helpers.xGrid .scale(helpers.widthScale) .orient("bottom") .ticks(5) .tickFormat(""); helpers.yGrid .scale(helpers.heightScale) .orient("left") .ticks(5) .tickFormat(""); helpers.xAxis = d3.svg.axis() .scale(helpers.widthScale) .ticks(5) .orient("bottom") .tickFormat(function (d) {return d;}); helpers.yAxis = d3.svg.axis() .scale(helpers.heightScale) .ticks(5) .orient("left") .tickFormat(function (d) {return d;}); helpers.line = d3.svg.line() .x(function (d) { return helpers.widthScale(d[0]); }) .y(function (d) { return helpers.heightScale(d[1]); }); return helpers; } function drawGraph(graphHelpers, data, sampleNumber) { var svg = d3.select(graphHelpers.selector); if (graphHelpers.dynamicHeightDomain) { var limits = []; $.each(data, function (idx, datum) { limits.push(datum.min); limits.push(datum.max); }); graphHelpers.heightScale.domain(d3.extent(limits)); } graphHelpers.widthScale.domain([(sampleNumber - 299), sampleNumber]); svg.select(".x.grid").call(graphHelpers.xGrid); svg.select(".y.grid").call(graphHelpers.yGrid); svg.select(".x.axis").call(graphHelpers.xAxis); svg.select(".y.axis").call(graphHelpers.yAxis); var group = svg.select("g.data"); var lines = group.selectAll("path").data(data, function (d, i) {return i;}); var newLines = lines.enter().append("path").attr("class", "line"); lines.attr('d', graphHelpers.line); } function update_model(val) { $('.mixerPreview img').attr('src', './resources/motor_order/' + mixerList[val - 1].image + '.svg'); } function process_html() { // translate to user-selected language localize(); self.feature3DEnabled = bit_check(BF_CONFIG.features, 12); if (self.feature3DEnabled && !self.feature3DSupported) { self.allowTestMode = false; } $('#motorsEnableTestMode').prop('checked', false); $('#motorsEnableTestMode').prop('disabled', true); update_model(CONFIG.multiType); // Always start with default/empty sensor data array, clean slate all initSensorData(); // Setup variables var samples_accel_i = 0, accel_data = initDataArray(3), accelHelpers = initGraphHelpers('#accel', samples_accel_i, [-2, 2]), accel_max_read = [0, 0, 0], accel_offset = [0, 0, 0], accel_offset_established = false; var raw_data_text_ements = { x: [], y: [], z: [], rms: [] }; $('.plot_control .x, .plot_control .y, .plot_control .z, .plot_control .rms').each(function () { var el = $(this); if (el.hasClass('x')) { raw_data_text_ements.x.push(el); } else if (el.hasClass('y')) { raw_data_text_ements.y.push(el); } else if (el.hasClass('z')) { raw_data_text_ements.z.push(el); } else if (el.hasClass('rms')) { raw_data_text_ements.rms.push(el); } }); // set refresh speeds according to configuration saved in storage chrome.storage.local.get('motors_tab_accel_settings', function (result) { if (result.motors_tab_accel_settings) { $('.tab-motors select[name="accel_refresh_rate"]').val(result.motors_tab_accel_settings.rate); $('.tab-motors select[name="accel_scale"]').val(result.motors_tab_accel_settings.scale); // start polling data by triggering refresh rate change event $('.tab-motors .rate select:first').change(); } else { // start polling immediatly (as there is no configuration saved in the storage) $('.tab-motors .rate select:first').change(); } }); $('.tab-motors .rate select, .tab-motors .scale select').change(function () { var rate = parseInt($('.tab-motors select[name="accel_refresh_rate"]').val(), 10); var scale = parseFloat($('.tab-motors select[name="accel_scale"]').val()); // store current/latest refresh rates in the storage chrome.storage.local.set({'motors_tab_accel_settings': {'rate': rate, 'scale': scale}}); accelHelpers = initGraphHelpers('#accel', samples_accel_i, [-scale, scale]); // timer initialization GUI.interval_kill_all(['motor_and_status_pull']); GUI.interval_add('IMU_pull', function imu_data_pull() { MSP.send_message(MSP_codes.MSP_RAW_IMU, false, false, update_accel_graph); }, rate, true); function update_accel_graph() { if (!accel_offset_established) { for (var i = 0; i < 3; i++) { accel_offset[i] = SENSOR_DATA.accelerometer[i] * -1; } accel_offset_established = true; } var accel_with_offset = [ accel_offset[0] + SENSOR_DATA.accelerometer[0], accel_offset[1] + SENSOR_DATA.accelerometer[1], accel_offset[2] + SENSOR_DATA.accelerometer[2] ]; updateGraphHelperSize(accelHelpers); samples_accel_i = addSampleToData(accel_data, samples_accel_i, accel_with_offset); drawGraph(accelHelpers, accel_data, samples_accel_i); // Compute RMS of acceleration in displayed period of time // This is particularly useful for motor balancing as it // eliminates the need for external tools var sum = 0.0; for (var j = 0; j < accel_data.length; j++) for (var k = 0; k < accel_data[j].length; k++) sum += accel_data[j][k][1]*accel_data[j][k][1]; var rms = Math.sqrt(sum/(accel_data[0].length+accel_data[1].length+accel_data[2].length)); raw_data_text_ements.x[0].text(accel_with_offset[0].toFixed(2) + ' (' + accel_max_read[0].toFixed(2) + ')'); raw_data_text_ements.y[0].text(accel_with_offset[1].toFixed(2) + ' (' + accel_max_read[1].toFixed(2) + ')'); raw_data_text_ements.z[0].text(accel_with_offset[2].toFixed(2) + ' (' + accel_max_read[2].toFixed(2) + ')'); raw_data_text_ements.rms[0].text(rms.toFixed(4)); for (var i = 0; i < 3; i++) { if (Math.abs(accel_with_offset[i]) > Math.abs(accel_max_read[i])) accel_max_read[i] = accel_with_offset[i]; } } }); $('a.reset_accel_max').click(function () { accel_max_read = [0, 0, 0]; accel_offset_established = false; }); var number_of_valid_outputs = (MOTOR_DATA.indexOf(0) > -1) ? MOTOR_DATA.indexOf(0) : 8; var motors_wrapper = $('.motors .bar-wrapper'), servos_wrapper = $('.servos .bar-wrapper'); for (var i = 0; i < 8; i++) { motors_wrapper.append('\
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\ '); } $('div.sliders input').prop('min', MISC.mincommand); $('div.sliders input').prop('max', MISC.maxthrottle); $('div.values li:not(:last)').text(MISC.mincommand); if(self.feature3DEnabled && self.feature3DSupported) { //Arbitrary sanity checks //Note: values may need to be revisited if(_3D.neutral3d > 1575 || _3D.neutral3d < 1425) _3D.neutral3d = 1500; $('div.sliders input').val(_3D.neutral3d); } else { $('div.sliders input').val(MISC.mincommand); } if(self.allowTestMode){ // UI hooks var buffering_set_motor = [], buffer_delay = false; $('div.sliders input:not(.master)').on('input', function () { var index = $(this).index(), buffer = [], i; $('div.values li').eq(index).text($(this).val()); for (i = 0; i < 8; i++) { var val = parseInt($('div.sliders input').eq(i).val()); buffer.push(lowByte(val)); buffer.push(highByte(val)); } buffering_set_motor.push(buffer); if (!buffer_delay) { buffer_delay = setTimeout(function () { buffer = buffering_set_motor.pop(); MSP.send_message(MSP_codes.MSP_SET_MOTOR, buffer); buffering_set_motor = []; buffer_delay = false; }, 10); } }); } $('div.sliders input.master').on('input', function () { var val = $(this).val(); $('div.sliders input:not(:disabled, :last)').val(val); $('div.values li:not(:last)').slice(0, number_of_valid_outputs).text(val); $('div.sliders input:not(:last):first').trigger('input'); }); $('#motorsEnableTestMode').change(function () { if ($(this).is(':checked')) { $('div.sliders input').slice(0, number_of_valid_outputs).prop('disabled', false); // unlock master slider $('div.sliders input:last').prop('disabled', false); } else { // disable sliders / min max $('div.sliders input').prop('disabled', true); // change all values to default if (self.feature3DEnabled && self.feature3DSupported) { $('div.sliders input').val(_3D.neutral3d); } else { $('div.sliders input').val(MISC.mincommand); } $('div.sliders input').trigger('input'); } }); // check if motors are already spinning var motors_running = false; for (var i = 0; i < number_of_valid_outputs; i++) { if( !self.feature3DEnabled ){ if (MOTOR_DATA[i] > MISC.mincommand) { motors_running = true; break; } }else{ if( (MOTOR_DATA[i] < _3D.deadband3d_low) || (MOTOR_DATA[i] > _3D.deadband3d_high) ){ motors_running = true; break; } } } if (motors_running) { if (!self.armed && self.allowTestMode) { $('#motorsEnableTestMode').prop('checked', true); } // motors are running adjust sliders to current values var sliders = $('div.sliders input:not(.master)'); var master_value = MOTOR_DATA[0]; for (var i = 0; i < MOTOR_DATA.length; i++) { if (MOTOR_DATA[i] > 0) { sliders.eq(i).val(MOTOR_DATA[i]); if (master_value != MOTOR_DATA[i]) { master_value = false; } } } // only fire events when all values are set sliders.trigger('input'); // slide master slider if condition is valid if (master_value) { $('div.sliders input.master').val(master_value); $('div.sliders input.master').trigger('input'); } } $('#motorsEnableTestMode').change(); // data pulling functions used inside interval timer function get_status() { // status needed for arming flag MSP.send_message(MSP_codes.MSP_STATUS, false, false, get_motor_data); } function get_motor_data() { MSP.send_message(MSP_codes.MSP_MOTOR, false, false, get_servo_data); } function get_servo_data() { MSP.send_message(MSP_codes.MSP_SERVO, false, false, update_ui); } var full_block_scale = MISC.maxthrottle - MISC.mincommand; function update_ui() { var previousArmState = self.armed; var block_height = $('div.m-block:first').height(); for (var i = 0; i < MOTOR_DATA.length; i++) { var data = MOTOR_DATA[i] - MISC.mincommand, margin_top = block_height - (data * (block_height / full_block_scale)).clamp(0, block_height), height = (data * (block_height / full_block_scale)).clamp(0, block_height), color = parseInt(data * 0.009); $('.motor-' + i + ' .label', motors_wrapper).text(MOTOR_DATA[i]); $('.motor-' + i + ' .indicator', motors_wrapper).css({'margin-top' : margin_top + 'px', 'height' : height + 'px', 'background-color' : 'rgba(89,170,41,1.'+ color +')'}); } // servo indicators are still using old (not flexible block scale), it will be changed in the future accordingly for (var i = 0; i < SERVO_DATA.length; i++) { var data = SERVO_DATA[i] - 1000, margin_top = block_height - (data * (block_height / 1000)).clamp(0, block_height), height = (data * (block_height / 1000)).clamp(0, block_height), color = parseInt(data * 0.009); $('.servo-' + i + ' .label', servos_wrapper).text(SERVO_DATA[i]); $('.servo-' + i + ' .indicator', servos_wrapper).css({'margin-top' : margin_top + 'px', 'height' : height + 'px', 'background-color' : 'rgba(89,170,41,1'+ color +')'}); } //keep the following here so at least we get a visual cue of our motor setup update_arm_status(); if (!self.allowTestMode) return; if (self.armed) { $('#motorsEnableTestMode').prop('disabled', true); $('#motorsEnableTestMode').prop('checked', false); } else { if (self.allowTestMode) { $('#motorsEnableTestMode').prop('disabled', false); } } if (previousArmState != self.armed) { console.log('arm state change detected'); $('#motorsEnableTestMode').change(); } } // enable Status and Motor data pulling GUI.interval_add('motor_and_status_pull', get_status, 50, true); GUI.content_ready(callback); } }; TABS.motors.cleanup = function (callback) { if (callback) callback(); };